This is a hardware, software, and control lab. You will add Ping range
sensors to your chassis. Your team must decide whether to use 1 or 2
sensors and determine the sensor geometry (scan/no scan) to provide
feedback information adequate for following a piecewise linear wall on
the right hand side subject to concave (+90/180 degrees) and convex
(-90 degrees) corners. Mount and interface your Ping sensors. Write a
stable (negative feedback) control policy for staying within a
predefined range to the right-side wall.
Implement and evaluate the performance
of your control strategy.

Materials:

standoffs/screws for mounting the Ping/servo motor geometry to your
chassis. You may use at most 2 Ping sensors and a small servo motor.

Arduino Board, motor shield

2 Ping ultrasonic range finders

(optional) servo motor for scanning

wire for interfacing

Quick Start:
The 5V pin of the PING is connected to the 5V pin on the Arduino,
the GND pin is connected to the GND pin, and the SIG (signal) pin is
connected to digital pin 7 on the Arduino.
Open the Arduino IDE and connect the Arduino to the computers USB
port. Upload the following code to Arduino by saving it in a new
sketch and clicking the Upload button. The code is based on the Ping
example that comes with the Arduino IDE (File->Examples->6.Sensors->Ping).